#include <geometry_msgs/Twist.h>
#include <ros/ros.h>

int main(int argc, char** argv)
{
    ros::init(argc, argv, "vel");
    ros::Time::init();
    ros::Rate rate(10);

    ros::NodeHandle nh;
    ros::Publisher pub = nh.advertise<geometry_msgs::Twist>("/cmd_vel", 10);

    while (ros::ok()) {
        geometry_msgs::Twist msg;
        msg.linear.x = 0.5;
        msg.linear.y = 0;
        msg.linear.z = 0;
        msg.angular.x = 0;
        msg.angular.y = 0;
        msg.angular.z = 0.5;
        pub.publish(msg);
        rate.sleep();
    }

    return 0;
}